the world’s most advanced humanoid robot
ROBOT DEVELOPMENT 3
Creating New Mobility 4
The Concept behind Honda’s
Robot R&D 4
HISTORY OF HUMANOIDS 5
1986 (E0) 5
1987 – 1991 (E1, E2, E3) 5
1991 – 1993 (E4, E5, E6) 5
1993 – 1997 (P1, P2, P3) 6
2000 – 2005 (ASIMO v1) 6
2005 – Current (ASIMO v2) 6
ASIMO v1 7
Overview 7
Design Concept 8
Specifi cations 9
Walking 10
Arms 13
Intelligence 14
ASIMO v2 16
New ASIMO 16
Key Specifi cations 17
Major New Functions 17
THE FUTURE 18
CONTENTS
ASIMO V2 : TECHNICAL GUIDE : ROBOT DEVELOPMENT :02 :
ROBOTDEVELOPMENT
AIMING FOR FUNCTIONG O U C O
TECHNICAL GUIDE : ROBOT DEVELOPMENT :03 :
CREATING NEW MOBILITY
Following in the steps of Honda
motorcycles, cars and power
products, Honda has taken up a
new challenge in mobility - the
development of a two-legged
humanoid robot that can walk.
THE CONCEPT BEHIND HONDA’S ROBOT R&D
The main concept behind
Honda’s robot R&D was to
create a more viable mobility
that allows robots to help and
live in harmony with people.
Research began by envisioning
the ideal robot form for use in
human society.
The robot would need to be able
to manoeuvre between objects
in a room and be able to go up
and down stairs. For this reason
it had to have two legs, just like
a person.
In addition, if two-legged
walking technology could be
established, the robot would
need to be able to walk on
uneven ground and be able
to function in a wide range of
environments.
Although considered extremely
diffi cult at the time, Honda set
itself this ambitious goal and
developed revolutionary new
technology to create a two-
legged walking robot.
ASIMO V2 : TECHNICAL GUIDE : ROBOT DEVELOPMENT :04 :
Honda’s fi rst robot EO isn’t the
fastest of walkers. In fact it takes
up to 20 seconds to complete a
single step. That’s because EO
moves one foot forward, then
slowly transfers its balance
before moving the other foot.
Hardly human-like, but a worthy
fi rst step.
≥ E0 – Walking by putting
one leg before the other is
achieved. However, EO takes
between 5 to 20 seconds to
take a step and can only walk
in a straight line.
Meet E1, E2 and E3 – the
dynamic walking robots. Rather
than balancing before moving,
these robots lean into their next
step, shift their weight and move
the other foot forward to catch
themselves, just like you or I do.
They work fi ne on a completely
fl at surface. But not so fi ne on
anything else.
≥ E1 – This early prototype of
later models walks at 0.25
km/h and has a distinct
movement between each leg.
≥ E2 – The fi rst model that can
walk ‘dynamically’. E2 shifts
its weight forward, and leans
into the next step, achieving
1.2 km/h.
≥ E3 – E3 features ‘thigh-like’
legs and is further refi ned to
walk at a much more human
3 km/h.
E4, E5 and E6 are a real leap
forward. They feature ‘posture
control’ technologies that allow
them to compensate if they
become off-balance. In other
words they can easily walk on an
incline, up stairs, or over uneven
surfaces. They’re still not the
most friendly looking robots,
but they’re certainly masters of
walking.
≥ E4 – Knee length is increased
to 40 cm to allow E4 to
simulate quick human steps.
This results in a walking
speed of 4.7 km/h.
≥ E5 – E5 features posture
control technologies to
stabilise walking. This allows
it to walk on sloping surfaces
and steps.
≥ E6 – E6 has autonomous
control of balance so it can
cope with and react to diffi cult
and uneven surfaces.
1986 (E0)
1987 – 1991(E1, E2, E3)
1991 – 1993 (E4, E5, E6)
The fi rst two-legged walking humanoid represents the fruition of Honda engineers’ quest to create an innovative kind of mobility that brings a whole new value to human society in perfect co-existence and harmony. Indeed, man’s dream has taken the fi rst (but steady) step into the future as the robot steps forward.
HISTORY OFHUMANOIDS
ASIMO V2 : TECHNICAL GUIDE : HISTORY OF HUMANOIDS :05 :
The concept behind
Honda’s Robot R&D
... to create a more
viable mobility that allows
robots to help and live in
harmony with people.
With their heads, bodies and
arms, Prototypes P1, P2 and P3
certainly look more like robots.
They can turn on switches, pick
up and carry objects, even push
carts. And by P2 they can even
do it wirelessly. Arms and a body
also help with balance. Push
P2 and he won’t fall over. You’ll
also see they’re getting smaller.
P1’s height of over 1.9 metres
is hardly a ‘friendly’ size for a
robot.
≥ P1 – The fi rst ‘human’
prototype robot features an
upper body and arms. P1 can
operate switches and pick up
and carry objects.
≥ P2 – P2 features a plastic
‘skin’ and is completely
wireless. It stuns the public
with its realistic movement.
≥ P3 – P3 is a completely
independent humanoid robot.
Its decentralised control
systems and new component
materials means it is
smaller and lighter than its
predecessors.
This is ASIMO. ASIMO can walk
upstairs, walk backwards,
balance on one foot, even
recognise faces. What makes
ASIMO so different is Predicted
Movement Control. Unlike other
robots that have to stop and
shuffl e to change direction,
ASIMO can turn without
stopping. You’ll also notice
ASIMO has a more attractive
design and is a much more
people-friendly 120 cm tall.
≥ ASIMO v1 – Lighter, smaller,
more fl exible and more
human-like – ASIMO is
the fi rst robot to feature
predicted movement control
which allows it turn without
stopping.
ASIMO is continually being
developed, and in 2005 a new
more mobile version is ‘born’.
ASIMO can run, turn while
running, and even perform basic
receptionist tasks. But what
next? The dream for ASIMO now
is ‘brain like’ intelligence. That
means learning by sensing and
experiencing its environment
– something only a ‘walking’
robot can do.
≥ ASIMO v2 – ASIMO can run at
6 km/h and even turn while
running. It can also perform
basic reception duties and
hold hands while walking.
1993 – 1997(P1, P2, P3)
2000 – 2005(ASIMO v1)
2005 – Current(ASIMO v2)
ASIMO V2 : TECHNICAL GUIDE : HISTORY OF HUMANOIDS :06 :
ASIMO v1
ASIMO was conceived
to function in an
actual human living
environment in the
near future.
OVERVIEW
As exemplifi ed by P2 and
P3, the two-legged walking
technology developed by Honda
represents a unique approach
to the challenge of autonomous
locomotion. Using the know-how
gained from these prototypes,
research and development
began on new technology for
actual use. ASIMO represents
the fruition of this pursuit.
ASIMO was conceived to
function in an actual human
living environment in the near
future. It is easy to operate, has
a convenient size and weight
and can move freely within the
human living environment, all
with a people-friendly design.
ASIMO V2 : TECHNICAL GUIDE : ASIMO V1 :07 :
DESIGN CONCEPT
The robot’s size was chosen to
allow it to operate freely in the
human living space and to make
it people-friendly.
This size allows the robot to
operate light switches and door
knobs, and work at tables and
work benches. Its eyes are
located at the level of an adult’s
eyes when the adult is sitting in
a chair. A height of 120cm makes
it easy to communicate with.
Honda feels that a robot height
between 120cm and that of an
adult is ideal for operating in the
human living space.
ASIMO V2 : TECHNICAL GUIDE :08 : ASIMO V1 :
SPECIFICATIONS
ASIMO V2 : ASIMO V1 :TECHNICAL GUIDE :09 :
WALKING
SMOOTHER AND MORE
STABLE WALKING
The introduction of intelligent,
real-time, fl exible-walking
technology allowed ASIMO
to walk continuously while
changing directions, and gave
the robot even greater stability in
response to sudden movements.
≥
Earlier Ways of Walking
Creating Earlier Walking Patterns
ASIMO V1 :10 : TECHNICAL GUIDE :ASIMO V2 :
INTELLIGENT WALKING
TECHNOLOGY
New ASIMO Walking Technology
features a predicted movement
control added to the earlier
walking control technology.
This new two-legged walking
technology permits more fl exible
walking. As a result, ASIMO now
walks more smoothly and more
naturally.
Creating Prediction
Movement Control
When human beings walk
straight ahead and start to turn
a corner, they shift their centre
of gravity toward the inside of
the turn. Thanks to New ASIMO
Walking Technology, ASIMO can
predict its next movement in
real time and shift its centre of
gravity in anticipation.
ASIMO V2 : TECHNICAL GUIDE :11 : ASIMO V1 :
The Future of Intelligent Walking
Technology
Thanks to Intelligent Walking
Technology, ASIMO can
change its walking smoothly
and continuously at any time.
Intelligent Walking Technology
allows robots to exist more
easily in the human living
environment. This technological
development will allow robots of
the future to work in harmony
with people while avoiding
obstructions on their own.
Intelligent, Real-Time,
Flexible Walking
Achieved!
Control Block Map
ASIMO V2 : TECHNICAL GUIDE : ASIMO V1 :12 :
Expanding the
Arm’s Operating Range
The introduction of
intelligent, real-time,
fl exible-walking technology
allowed ASIMO to walk
continuously while
changing directions, and
gave the robot even greater
stability in response to
sudden movements.
Arms
Improvements in Operability
P3 was only controlled from
a workstation, but ASIMO
can also be operated from a
portable controller to allow
fl exible walking control and
motions from button operations
(gesticulations). This permits
more direct operation of ASIMO.
ASIMO V2 : TECHNICAL GUIDE : ASIMO V1 :13 :
In 2002, Honda added
intelligence technology to
ASIMO which is capable of
interpreting the postures and
gestures of humans and moving
independently in response.
ASIMO’s ability to interact
with humans has advanced
signifi cantly - it can greet
approaching people, follow
them, move in the direction they
indicate, and even recognize
their faces and address them
by name. Further, utilising
networks such as the Internet,
ASIMO can provide information
while executing tasks such as
reception duties. ASIMO is the
world’s fi rst humanoid robot to
exhibit such a broad range of
intelligent capabilities.
ADVANCED COMMUNICATION
ABILITY THANKS TO
RECOGNITION TECHNOLOGY
Recognition of moving objects
Using the visual information
captured by the camera mounted
in its head, ASIMO can detect the
movements of multiple objects,
assessing distance and direction.
Specifi cally, ASIMO can:
≥ follow the movements of
people with its camera;
≥ follow a person;
≥ greet a person when he or
she approaches.
Recognition of postures and
gestures
Based on visual information,
ASIMO can interpret the
positioning and movement of a
hand, recognizing postures and
gestures. Thus ASIMO can react
not only to voice commands, but
also to the natural movements of
human beings.
For example, ASIMO can:
≥ recognise an indicated
location and move to that
location (posture recognition);
≥ shake a person’s hand when a
handshake is offered (posture
recognition);
≥ respond to a wave by waving
back (gesture recognition).
Environment recognition
ASIMO is able to assess its
immediate environment,
recognizing the position of
obstacles and avoiding them to
prevent collisions.
Specifi cally, ASIMO can:
≥ stop and start to avoid a
human being or other moving
object which suddenly
appears in its path;
≥ recognise immobile objects
in its path and move around
them.
Intelligence
ASIMO V2 : TECHNICAL GUIDE : ASIMO V1 :14 :
Distinguishing sounds
ASIMO’s ability to identify the
source of sounds has been
improved, and it can distinguish
between voices and other
sounds.
For example, ASIMO can:
≥ recognise when its name is
called, and turn to face the
source of the sound;
≥ look at the face of the person
speaking, and respond;
≥ recognise sudden, unusual
sounds, such as that of a
falling object or a collision,
and face in that direction.
Face recognition
ASIMO has the ability to
recognise faces, even when
ASIMO or the human being is
moving.
For example, ASIMO can:
≥ recognise the faces of people
which have been pre-
registered, addressing them
by name, communicating
messages to them, and
guiding them;
≥ recognise approximately ten
different people.
NETWORK INTEGRATION
Integration with user’s network
system
ASIMO can:
≥ execute functions
appropriately based on the
user’s customer data;
≥ greet visitors, informing
personnel of the visitor’s
arrival by transmitting
messages and pictures of the
visitor’s face;
≥ guide visitors to a
predetermined location, etc.
Internet connectivity
Accessing information via the
Internet, ASIMO can become a
provider of news and weather
updates, for example, ready to
answer people’s questions, etc.
ASIMO V2 : TECHNICAL GUIDE : ASIMO V1 :15 :
ASIMO v2
New ASIMO
The new ASIMO v2 debuted in late 2005 and has made great leaps forward from its predecessor. In fact, the new ASIMO can walk along with you (holding your hand if you wish), and features advanced mobility, to the extent that ASIMO can now move carts and other objects around at will. And, with a newly developed total control system that controls all of ASIMO’s functions, ASIMO can autonomously act as a receptionist, or even deliver drinks on a tray. The new ASIMO is also more agile than before, being able to run at 6km/h, and even turn whilst running.
ASIMO V2 : TECHNICAL GUIDE : ASIMO V2 :16 :
ASIMO v2 debuted
in late 2005 and has
made great leaps
forward from its
predecessor.
MAJOR NEW FUNCTIONS
Receptionist Tasks
ASIMO is now capable
of performing tasks as a
receptionist or information
guide automatically in concert
with the movement of people.
ASIMO now has the ability to
recognize the surrounding
environment through visual
sensors, fl oor surface sensor,
ultrasonic sensor, and by an IC
Tele-interaction Communication
Card, developed independently
by Honda, held by the person
with whom ASIMO will interact.
Head-mounted eye camera
and force (kinesthetic) sensor-
equipped wrists allow ASIMO to
give and receive an object such
as a tray in a timely manner,
or even to hold the hand of a
person and move in sync.
Carrying Objects
ASIMO is now capable of
handling a cart freely while
maintaining an appropriate
distance from the cart by
adjusting the force of its right
and left arms to push a cart
using the force (kinesthetic)
sensor on its wrists. Even when
the movement of the cart is
disturbed, ASIMO can continue
maneuvering by taking fl exible
actions such as slowing down or
changing directions.
KEY SPECIFICATIONS
Running speed
Walking speed
Height
Width
Depth
Weight
Continuous operating time
Operating degrees of freedom:
- Head
- Arm
- Hand
- Torso
- Leg
- TOTAL
Asimo v1
n/a
1.6 km/h
120 cm
45 cm
44 cm
52 kg
30 minutes
2
5x2 - 10
1x2 - 2
0
6x2 - 12
26
Asimo v2
6.0 km/h
2.7 km/h
130 cm
45 cm
37 cm
54 kg
40 minutes
3
7x2 - 14
2x2 - 4
1
6x2 - 12
34
ASIMO V2 : TECHNICAL GUIDE : ASIMO V2 :17 :
THEFUTUREAs development continues on ASIMO, today Honda demonstrates ASIMO around the world to encourage and inspire young students to study the sciences. And in the future, ASIMO may serve as another set of eyes, ears, hands and legs for all kinds of people in need. Someday ASIMO might help with important tasks like assisting the elderly or a person confi ned to a bed or a wheelchair. ASIMO might also perform certain tasks that are dangerous to humans, such as fi ghting fi res or cleaning up toxic spills.
ASIMO V2 : TECHNICAL GUIDE : THE FUTURE :18 :
www.honda.com.au | www.asimo.com.au